version: 66.14
glider: 45
mission: 2
dive: 2
start: 4 30 119 18 50 19
data:
$ID,45
$MISSION,2
$DIVE,2
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,6050
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,360
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,79430
$MASS_COMP,10859
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,645
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3820
$C_PITCH,3411
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.7
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,2399
$C_ROLL_CLIMB,2399
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,340
$VBD_MAX,3960
$C_VBD,2589
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.236565
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,161
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044369884
$SEABIRD_T_H,0.00066042581
$SEABIRD_T_I,2.7363718e-05
$SEABIRD_T_J,3.4006232e-06
$SEABIRD_C_G,-10.01541
$SEABIRD_C_H,1.1730425
$SEABIRD_C_I,-0.0023542538
$SEABIRD_C_J,0.00025774896
$SEABIRD_C_Z,2927.8301
$GPS1,300419,184537,4743.2510,-12224.4014,5,1.1,17,16.3,0.0,0.0,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-52.5
$GPS2,300419,184903,4743.2236,-12224.4189,9,1.1,20,16.3,0.0,205.8,8,9.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.103344,0.303555
$KALMAN_X,-58.117447,-58.117447,-58.117447,-111.836533,-95.037270
$KALMAN_Y,-139.771225,-139.771225,-139.771225,143.774521,-228.562607
$MHEAD_RNG_PITCHd_Wd,341.3,2366,-13.1,-10.000,-17.32,3645
$D_GRID,176
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-1.34,-244.4,190,2394,367,363,0.0,0.0,0,214,0.00,0.00,-204.00,0.144,16386,0.000,0.000,190,2395,2652,2645,2660,0,0,0,0,0,0,26.84,28.83,26.84,8.33,30.11
$GC,216,-1.34,-244.4,190,2394,2645,2661,3.0,-2.2,34,267,10.57,0.00,-36.35,0.154,18438,0.263,0.000,2976,2395,3432,3398,3466,0,0,0,0,0,0,25.95,26.20,26.06,8.54,29.24
$GC,329,-1.34,-244.4,2975,2395,3398,3466,14.1,-10.0,54,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2395,3432,3398,3466,0,0,0,0,0,0,26.61,26.63,26.63,8.61,29.13
$GC,402,-1.34,-244.4,2976,2395,3399,3466,23.0,-12.8,66,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2395,3432,3398,3466,0,0,0,0,0,0,26.69,26.70,26.70,8.61,29.13
$GC,522,-1.34,-244.4,2975,2395,3398,3466,38.3,-12.3,78,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2395,3432,3398,3466,0,0,0,0,0,0,26.77,26.79,26.79,8.60,29.20
$STATE,571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,571,begin apogee
$GC,574,-0.39,0.0,2976,2395,3398,3466,45.0,-13.0,83,753,0.90,0.00,172.23,0.683,10246,0.151,0.000,3288,2395,2588,2556,2621,0,0,0,0,0,0,26.32,25.29,24.77,8.61,29.79
$STATE,754,end apogee,CONTROL_FINISHED_OK
$STATE,754,begin climb
$GC,756,1.34,244.4,3288,2395,2556,2621,51.2,0.0,101,934,1.45,0.00,173.62,0.670,10246,0.124,0.000,3802,2395,1746,1720,1773,0,0,0,0,0,0,25.42,25.22,24.73,8.52,29.13
$GC,1052,1.37,274.9,3802,2395,1720,1774,29.6,9.1,131,1082,0.00,0.00,22.90,0.623,10246,0.000,0.000,3802,2395,1641,1618,1665,0,0,0,0,0,0,26.29,25.66,25.16,8.44,27.63
$GC,1202,1.44,331.3,3802,2395,1619,1666,16.7,8.4,149,1246,0.00,0.00,40.53,0.638,10246,0.000,0.000,3802,2395,1447,1427,1468,0,0,0,0,0,0,26.44,25.64,25.14,8.43,28.22
$GC,1308,1.47,351.2,3801,2394,1427,1469,6.8,9.4,168,1328,0.00,0.00,15.43,0.593,10246,0.000,0.000,3802,2395,1379,1359,1400,0,0,0,0,0,0,26.30,25.75,25.25,8.40,28.61
$STATE,1368,end climb,SURFACE_DEPTH_REACHED
$STATE,1368,begin surface coast
$FINISH,0.6,1.020673
$STATE,1390,end surface coast,CONTROL_FINISHED_OK
$STATE,1390,begin surface
$SM_CCo,1406,214.12,0.636,0,0,367,645.20
$SM_GC,1.55,9.27,0.00,214.12,0.079,0.000,0.636,208,2394,367,-9.95,-0.14,645.20,0,0,0,0,0,0,26.07,26.37,24.79
$IRIDIUM_FIX,4742.17,-12225.08,300419,184226
$TT8_MAMPS,0.021721,0.174517
$HUMID,28.81
$INTERNAL_PRESSURE,8.2718
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,24.73,2.809
$10V_AH,10.47,1.180
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.200,0.000,424.700,214.125,240.350,0.000,0.000,0.000,0.000,0.000,21.164,340.937,274.408,791.231,291.104,13.980,30.282,1018.890,0.000,279.364,0.000,0.994,0.000
$DEVICE_MAMPS,263.198,0.000,682.825,635.648,153.946,0.000,0.000,0.000,420.000,0.000,14.230,13.970,2.190,13.220,37.940,54.410,60.410,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,116.405,235.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312700
$DATA_FILE_SIZE,10624,183
$CAP_FILE_SIZE,40560,0
$CFSIZE,2046525440,2042363904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,300419,191809,4743.183,-12224.729,5,1.2,21,16.3,0.4,214.9,8,9.9